WO2023013051A1 - 浮上装置、情報管理装置、及び分離移動体 - Google Patents

浮上装置、情報管理装置、及び分離移動体 Download PDF

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Publication number
WO2023013051A1
WO2023013051A1 PCT/JP2021/029381 JP2021029381W WO2023013051A1 WO 2023013051 A1 WO2023013051 A1 WO 2023013051A1 JP 2021029381 W JP2021029381 W JP 2021029381W WO 2023013051 A1 WO2023013051 A1 WO 2023013051A1
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WO
WIPO (PCT)
Prior art keywords
unit
levitation device
information
levitation
target
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2021/029381
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English (en)
French (fr)
Japanese (ja)
Inventor
清貴 宮川
大悟 草野
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Amuza Japan Co Ltd
Patent Investment Co Ltd
Original Assignee
Amuza Japan Co Ltd
Patent Investment Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Amuza Japan Co Ltd, Patent Investment Co Ltd filed Critical Amuza Japan Co Ltd
Priority to US18/681,563 priority Critical patent/US20240343361A1/en
Priority to PCT/JP2021/029381 priority patent/WO2023013051A1/ja
Priority to JP2023539561A priority patent/JPWO2023013051A1/ja
Publication of WO2023013051A1 publication Critical patent/WO2023013051A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/40—Rescue equipment for personnel
    • B63G8/41—Capsules, chambers, water-tight boats or the like, detachable from the submarine
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B22/00—Buoys
    • B63B22/04—Fixations or other anchoring arrangements
    • B63B22/08—Fixations or other anchoring arrangements having means to release or urge to the surface a buoy on submergence thereof, e.g. to mark location of a sunken object
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
    • B63C7/26—Means for indicating the location of underwater objects, e.g. sunken vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/50—Launching from storage containers, e.g. from submarine missile tubes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/20—UAVs specially adapted for particular uses or applications for use as communications relays, e.g. high-altitude platforms

Definitions

  • the present disclosure relates to a levitation device, an information management device, and a separation moving body.
  • Patent Literature 1 discloses a technique for releasing a levitation device from a mother ship that has become immobile on the bottom of the water, floats the levitation device to the surface of the water by buoyancy, and transmits a rescue signal from the floated position.
  • the levitation device sends a distress signal from the levitation position.
  • the position where the levitation device floats is not necessarily the position suitable for transmitting the distress signal. That is, there are cases where, for example, an external communication device is more likely to receive the rescue signal when the rescue signal is transmitted from a position different from the position where the levitation device floats, rather than when the rescue signal is transmitted from the position where the levitation device floats.
  • the levitation device, the information management device, and the separated moving body according to the present disclosure aim to enable communication with the outside at a position different from the position where the levitation device levitates.
  • a levitation device (100) is released from a submersible (200) that has submerged in water (UW) and floats above water (OW), and communicates with an external communication device (300).
  • the levitation device (100) After the levitation device (100) is released from the submersible (200) and floats from underwater (UW) to above water (OW), the target part is moved from the surfaced position. can be done. Therefore, the levitation device (100) can communicate with the outside at a position different from the position where the levitation device (100) is levitated by using the moved target part.
  • the moving part (13) moves the target part by flying it, and the communication part (10) causes the target part to fly by the moving part (13).
  • the target information may be transmitted to the external communication device (300). According to this, by flying at a position where the target site is higher than the water surface (WS), the line-of-sight distance from the target site can be increased. Therefore, communication with the external communication device (300) can be facilitated.
  • the communication unit (10) controls the external communication device (300) while the target part is flying at an altitude of 15 m or more by the moving unit (13). You may send the target information to According to this, the action and effect of the floating device (100) described above are realized more specifically.
  • the moving part (13) may cause the target part to fly by generating an upward propulsion force that propels the target part upward.
  • the target part may be propelled upward by the upward thrust, but the position of the target part may not be controlled laterally.
  • the moving part (13) can use more of the energy available for moving the target part for upward propulsion. Therefore, since the target site can be raised to a higher altitude, the line-of-sight distance from the target site can be increased.
  • the moving part (13) may lower the flying target part directly downward. According to this, the position coordinates at which the target portion flew and the position coordinates at which the target portion descended can be substantially matched. Therefore, by detecting the position coordinates at which the target part descended, it becomes easier to estimate the position coordinates at which the target part was flying.
  • the moving part (13) may lower the flying target part so as to head to a position different from directly below. According to this, since the position coordinates can be changed while the target site is descending, it is possible to descend to a wider area. This may also be achieved, for example, by suppressing lateral control of the moving part (13), in which case energy consumption by the moving part (13) can be suppressed.
  • the moving part (13) repeats the flying target part after the communication part (10) transmits the target information to the external communication device (300). You can let it stay in place. According to this, the target part can be made to stay at a position where the target information can be more reliably transmitted to the external communication device (300). Therefore, even if it becomes necessary to retransmit the target information to the external communication device (300), it can be transmitted quickly. In addition, since the target part remains at the same position, the levitation device (100) is easily found by others.
  • the moving section (13) may stop operating after the communication section (10) transmits the target information to the external communication device (300). According to this, energy consumption by the moving part (13) can be suppressed.
  • a levitation device (100) includes a separation mobile body (1) that is part of the levitation device (100), the separation mobile body (1) includes a communication unit (10), a moving part (13), after the floating device (100) rises from the water (UW) to the water (OW), it is separated from the rest of the floating device (100) and moved by the moving part (13). You may According to this, since not the entire levitation device (100) but the separation moving body (1) is moved, energy consumption by the moving part (13) can be suppressed. Further, since the separated mobile body (1) is provided with the communication unit (10), it is possible to communicate with the outside from the separated mobile body (1) that has moved.
  • the moving part (13) may be moved by causing the separation moving body (1) to fly. According to this, the separation moving body (1) flies at a position higher than the water surface (WS), so that the line-of-sight distance from the separation moving body (1) can be increased. Therefore, communication with the external communication device (300) can be facilitated.
  • a levitation device (100) includes an opening/closing part (22), and by closing the opening/closing part (22), a separation moving body (1) can be accommodated inside in a sealed state, and , the container (2) is released from the sealed state by opening the opening/closing part (22), and the separation moving body (1) can be moved from the inside to the outside, and the separation moving body (1) is , the levitation device (100) rises from underwater (UW) to above water (OW) in a state where the opening/closing part (22) is housed inside the container (2) in the closed state, and the opening/closing part (22) is opened, it may be separated from the containing body (2) and moved by the moving part (13).
  • UW underwater
  • OW above water
  • the separation moving body (1) is housed inside the housing body (2) in a sealed state. It is possible to prevent the moving body (1) from coming into contact with water. Further, after the levitation device (100) floats from the water (UW) to the water (OW), the separation moving body (1) can be separated from the container (2) and the separation moving body (1) can be moved. can.
  • a levitation device (100) includes a detection unit (21) that detects that the levitation device (100) has surfaced from underwater (UW) to above water (OW), and a container (2)
  • the opening/closing part (22) may be opened when the detection part (21) detects that the floating device (100) has surfaced from underwater (UW) to above water (OW). According to this, until the floating device (100) floats from the water (UW) to the water (OW), the separation moving body (1) is housed inside the housing body (2) in a sealed state.
  • the function and effect of the levitation device (100) of suppressing contact of the moving body (1) with water can be preferably exhibited.
  • the separation moving body (1) is separated from the containing body (2) and the separation moving body (1) is moved.
  • the action and effect of the device (100) can be favorably exhibited.
  • the container (2) may be filled with oil (F) while the opening/closing section (22) is closed.
  • oil (F) By making the oil (F) function as a so-called pressure equalizing oil, it is possible to suppress the water pressure applied to the equipment inside the container (2) such as the separation moving body (1).
  • the oil (F) can protect the equipment inside the floating device (100) from the water.
  • the container (2) may be configured to have an average density of 2.0 g/cm 3 or less. According to this, since the weight of the container (2) can be reduced, it is possible to prevent the weight of the container (2) from interfering with the levitation of the levitation device (100).
  • a levitation device (100) fixes a separation moving body (1) and a container (2) to each other in a state in which the separation moving body (1) is housed inside the container (2).
  • the separation movable body (1) is housed inside the container (2) with the opening/closing part (22) closed, and the levitation device (100) is underwater (UW).
  • UW opening/closing part
  • the container (2) is separated and the moving part You may move by (13). According to this, before the separation moving body (1) is separated from the container (2), the separation moving body (1) is tilted or overturned inside the container (2) due to the influence of, for example, ocean currents or waves. can be suppressed.
  • the container (2) includes a curved surface portion (C) having a curved outer surface, a non-curved surface portion (P) having a flat outer surface, may be provided. According to this, it is easy to improve the pressure resistance of the containing body (2) in the curved portion (C), and it is easy to form an opening/closing mechanism for the opening/closing portion (22) in the non-curved portion (P).
  • the separation moving body (1) may float on water. According to this, it is possible to prevent the separation moving body (1) from being submerged when it descends to the water surface (WS).
  • the submersible (200) may be a boarding submersible on which a crew member can board. According to this, the action and effect of the floating device (100) described above are realized more specifically.
  • the levitation device (100) can be used to emit a distress signal to request rescue of the occupants.
  • the moving part (13) may move the target part in a specific direction. According to this, it is possible to facilitate communication with the external communication device (300) by moving the target part in the direction toward the position where the target information is easily received.
  • a levitation device (100) is a determination unit that determines whether or not the external communication device (300) has received target information transmitted to the external communication device (300) by the communication unit (10). (11) is provided, and when the determining unit (11) determines that the external communication device (300) has received the target information, the moving unit (13) may not move the target part. According to this, when the target information is received by the external communication device (300), the separated moving body (1) is not moved, so that the energy consumption by the moving part (13) can be suppressed.
  • the target information may include position information indicating the position of at least one of the submersible (200) and the levitation device (100). According to this, information about the current position of the submersible (200) can be transmitted to the external communication device (300). In particular, when the rescue signal of the submersible (200) is transmitted as the target information, rescue can be performed more quickly.
  • the target information may include status information indicating the status of the submersible (200).
  • information about the current situation of the submersible (200) can be transmitted to the external communication device (300).
  • a rescue team or the like acquires information about the current situation of the submersible body (200) via the external communication device (300), it is possible to grasp the information about the current situation of the submersible body (200). .
  • the target information may have a data amount of 1 B or more and 50 B or less. According to this, the data amount of the target information can be reduced, so the target information can be transmitted over a longer distance.
  • the communication section (10) may communicate with the external communication device (300) using radio waves with a frequency of 1000 MHz or less. According to this, the wavelength of the radio wave used for communication can be lengthened, so the target information can be transmitted over a longer distance.
  • a levitation device (100) includes a movement parameter setting unit (12) that sets a movement parameter indicating at least one of distance, altitude, and time for a target part to move, (13) may move the target part according to the movement parameter set by the movement parameter setting unit (12). According to this, it is possible to facilitate communication with the external communication device (300) by moving the target part to a position where the target information can be easily received.
  • the energy available to the levitation device (100) is used by the movement section (13) to move the target part.
  • the target part is moved until the available energy is exhausted, and the communication unit (10) uses the energy available for the levitation device (100) to transmit the target information to the external communication device (300).
  • the target information may be transmitted to the external communication device (300) until the unit (10) runs out of available energy.
  • a large amount of energy can be used by the mobile unit (13) and the communication unit (10), so communication with the external communication device (300) is more likely to succeed.
  • the amount of data that can be communicated with the external communication device (300) can be increased.
  • the moving unit (13) may be able to select a test moving mode for test moving the target part to check the operation of the moving unit (13). . According to this, it is possible to confirm in advance whether the moving part (13) operates properly.
  • the communication unit (10) selects a test communication mode for transmitting test information to the external communication device (300) to check the operation of the communication unit (10). It may be possible. According to this, according to this, it can be confirmed beforehand whether the communication part (10) operate
  • An information management device (400) includes an identification information acquisition unit (30) that acquires identification information related to any of the levitation devices (100) described above, and a communication device provided in the levitation device (100).
  • a target information acquisition unit (31) that acquires the target information transmitted to the external communication device (300) by the unit (10), the identification information acquired by the identification information acquisition unit (30), and the target information acquisition unit ( and an information management unit (33) that links and manages the target information acquired by 31).
  • the target information transmitted to the external communication device (300) is transmitted to the external communication device (300) for each levitation device (100) capable of communicating with the outside at a position different from the levitation position. can be managed.
  • the target information may include status information indicating the status of the submersible (200). According to this, the information regarding the condition of the submersible (200) can be managed.
  • An information management device (400) includes a response information generation unit ( 35). According to this, since it is possible to manage the information of the rescue response after receiving the target information such as the rescue signal, for example, it is possible for the administrator or the like to grasp the status of the response to the submersible (200). Become.
  • An information management device (400) includes a contact information acquisition unit (32) that acquires contact information of a contact regarding a submersible (200).
  • the contact information acquired by the contact information acquisition unit (32) is managed in association with the identification information, and when new target information is acquired by the target information acquisition unit (31), it is linked with the target information.
  • It may further include an information contact unit (34) that contacts the contact based on the contact information associated with the identification information. According to this, it is possible to manage the contact information of the contact information regarding the submersible (200) for each surfacing device (100) that can communicate with the outside at a position different from the surfacing position. becomes.
  • a separation moving body (1) is released from a submersible body (200) that has submerged in water (UW) and floats above water (OW) by a levitation unit (20). ), which is part of a levitation device (100), and after the levitation device (100) has surfaced from underwater (UW) to above water (OW), external communication a communication unit (10) capable of transmitting target information to a plane (300); and the separation separated from the rest of the levitation device (100) after the levitation device (100) floats from underwater (UW) to water (OW).
  • a moving part (13) for moving the moving body (1) is released from a submersible body (200) that has submerged in water (UW) and floats above water (OW) by a levitation unit (20).
  • this separation moving body (1) After the levitation device (100) equipped with the separation moving body (1) is released from the submersible body (200) and rises from underwater (UW) to above water (OW), The separation moving body (1) can be moved from the floated position. Therefore, the separation moving body (1) can communicate with the outside at a position different from the position where the levitation device (100) levitates.
  • the levitation device, the information management device, and the separation moving body according to the present disclosure can communicate with the outside at a position different from the position where the levitation device levitates.
  • FIG. 1 is a block diagram showing a levitation device and an information management device according to the first embodiment.
  • FIG. 2 is a diagram showing communication between the levitation device and an external communication device.
  • FIG. 3 is a diagram showing a levitation device mounted on a submersible submerged in water.
  • FIG. 4 is a diagram showing a levitation device released from a submersible and surfacing.
  • FIG. 5 is a diagram showing the levitation device levitated above the water.
  • FIG. 6 is a diagram showing the levitation device in which the opening/closing portion of the container is in an open state.
  • FIG. 7 is a diagram showing a container whose opening/closing portion is in an open state, and a separation moving object that has started flying from the container.
  • FIG. 1 is a block diagram showing a levitation device and an information management device according to the first embodiment.
  • FIG. 2 is a diagram showing communication between the levitation device and an external communication device.
  • FIG. 8 is a diagram showing the separation mover being propelled upward from the container.
  • FIG. 9 is a diagram showing a separation moving body that descends directly downward from a flying state.
  • FIG. 10 is a diagram showing a separation moving body descending from a flying state toward a position different from directly below.
  • FIG. 11 is a diagram showing a levitation device according to the second embodiment.
  • FIG. 1 is a block diagram showing a levitation device 100 and an information management device 400 according to the first embodiment.
  • FIG. 2 is a diagram showing communication between the levitation device 100 and the external communication device 300.
  • FIG. 3 is a diagram showing the levitation device 100 mounted on a submersible 200 that has submerged in an underwater UW.
  • FIG. 4 is a diagram showing the floating device 100 released from the submersible 200 and floating.
  • FIG. 5 is a diagram showing the floating device 100 floating on the water OW. As shown in FIGS.
  • the levitation device 100 is released from a submersible 200 that has submerged in the underwater UW, rises from the underwater UW to the surface OW, and communicates with an external communication device 300. be. That is, the levitation device 100 is mounted on or held by the submersible 200 in the initial state.
  • the information management device 400 is a device that acquires various types of information about the levitation device 100 from, for example, the external communication device 300 and manages the information.
  • the levitation device 100 is used when the submersible 200 transmits a rescue signal to the external communication device 300 .
  • the levitation device 100 transmits a distress signal to the external communication device 300 so that the submersible 200 that has encountered trouble such as an accident or distress in the underwater UW requests rescue of the crew members.
  • the levitation device 100 is configured to be able to move to a position where the external communication device 300 can easily receive the distress signal (by moving at least a part of the levitation device 100) and transmit the distress signal.
  • Troubles that can occur in the submersible 200 in underwater UW include, for example, being stuck due to rocks, engine trouble, sudden poor physical condition of the crew, running out of fuel, fire, lack of oxygen, and the like.
  • the application of the levitation device 100 is not limited to sending a rescue signal (rescue request), and the signal transmitted from the levitation device 100 to the external communication device 300 is not limited to the rescue signal.
  • the use of the levitation device 100 may be notification that the occupant is safe, notification of the surroundings of the submersible 200, and submersible 200 or the like performed in the underwater UW. It may be a report of the results of various investigations.
  • Underwater means at least a position submerged below the water surface WS. More specifically, the underwater UW may mean a position submerged deeper than the water surface WS by a predetermined degree (for example, 50 cm or 1 m) or more. As an example of the actual usage of the levitation device 100, the levitation device 100 may be released from a submersible body 200 that has submerged in an underwater UW to a depth of about 100 m, or may surface from a submersible body 200 that has submerged in an underwater UW to a depth of about 500 m. Device 100 may be released.
  • the water surface OW refers to a position at a height equivalent to the water surface WS, a position above the water surface WS, and a position below the water surface WS at a predetermined depth (water depth) from the water surface WS (for example, 50 cm). etc.) may be in the following positions.
  • the depth from the water surface WS may be measured at the top of the floating device 100, at the center, or at the center of gravity.
  • the underwater UW and the above-water OW may be in contact with each other at the boundary surface, or the underwater UW and the above-water OW may be vertically separated with a separate layer interposed therebetween.
  • “Survive from underwater to above water” means to ascend upward or obliquely upward from underwater UW to above water OW.
  • “Floating” may be, for example, upward or oblique upward movement due to buoyancy, may be upward or oblique upward movement due to mechanical propulsion such as a screw or thruster, or by other means It may be an upward or oblique upward movement.
  • “floating above the water” means a state in which the robot is in the process of floating toward the water OW and can continue to float from that position.
  • water means a state in which the floating to the water OW is completed, in other words, it means a state in which the object has floated to a position where it no longer floats or a position close to that position.
  • floated above the water may mean a state in which at least a part of the floating device 100 floats above the water surface WS.
  • water may be sea water, lake water, river water, or other water.
  • a "submersible body” is an entity that can submerge in an underwater UW.
  • the submersible 200 may be a submersible, a submarine, a structure or device installed in the underwater UW, or a user (diver) submerged in the underwater UW.
  • the submersible 200 may be a boarding submersible on which crew members can board, or a non-boarding submersible on which crew members cannot board.
  • a submersible craft configured as a boarding submersible is exemplified.
  • Released means that the state in which the levitation device 100 is mounted on or held by the submersible body 200 is released, and the levitation device 100 leaves the submersible body 200. At this time, the levitation device 100 and the submersible body 200 may be completely separated, or the body portion of the levitation device 100 may be separated from the submersible body 200 while maintaining the connection by a wire or the like.
  • the levitation device 100 fixed (mounted) to the submersible 200 by a fixing mechanism is fixed. It may be released from the submersible 200 by unlocking the mechanism. Further, for example, when the submersible body 200 is a user who has submerged in the underwater UW, the levitation device 100 held by the submersible body 200 may be released by the submersible body 200 .
  • the submersible 200 is a submersible craft configured as a boarding submersible.
  • the submersible 200 is equipped with various devices used for diving, navigation, etc. (not shown).
  • the submersible 200 also includes a hull portion 50 , a pedestal portion 51 , a battery 52 , a cable 53 , and a first fixing mechanism 54 .
  • the hull section 50 is a hull section as a main body section of the submersible 200 .
  • the hull section 50 has a crew boarding space and the like therein.
  • the pedestal portion 51 is provided on the upper surface of the hull portion 50 and is a pedestal to which the floating device 100 is fixed.
  • the battery 52 is a storage battery for supplying electric power to the first fixing mechanism 54 and is electrically connected to the first fixing mechanism 54 by a cable 53 .
  • the first fixing mechanism 54 is a mechanism for fixing the levitation device 100 onto the base portion 51 of the submersible body 200 .
  • the first fixing mechanism 54 is configured as an electromagnet here, and generates magnetic force when power is supplied from the battery 52 .
  • the levitation device 100 is provided with a second fixing mechanism 24 made of a magnetic material.
  • the electromagnet when power is supplied from the battery 52 to the first fixing mechanism 54, the electromagnet generates a magnetic force, and this magnetic force attracts the second fixing mechanism 24 of the levitation device 100 toward the submersible 200, and the levitation device 100 is lifted. It is fixed on the base portion 51 .
  • the electromagnet stops generating magnetic force, and the second fixing mechanism 24 of the levitation device 100 is no longer attracted to the submersible 200 side. is released from the pedestal portion 51 .
  • the levitation device 100 is a device that is released from the submersible 200 to float from the underwater UW to the water OW, and that communicates with the external communication device 300 by moving the target part of the levitation device 100 .
  • a “target portion” is at least a portion of the levitation device 100 and is a portion that is moved by the moving section 13 described later. It should be noted that "at least a portion” means that the entire portion of the levitation device 100 (the entire levitation device 100) or only a portion of the levitation device 100 may be used.
  • movement of the target part may be movement on the water surface WS, movement in the air (flight), or movement on the ground GS.
  • the target part may be configured as an underwater UW, a surface OW, and an aquatic drone that can move in the air, and is configured as an underwater UW, a surface OW, and an amphibious drone that can move on the ground GS. may be
  • the volume of the levitation device 100 is preferably 10000 cm 3 or less, more preferably 5000 cm 3 or less, and even more preferably 3000 cm 3 or less for convenience of mounting (or holding) on the submersible 200 .
  • the weight of the floating device 100 is preferably 5 kg or less, more preferably 3 kg or less, and even more preferably 1 kg or less from the viewpoint of convenience of mounting (or holding) on the submersible 200 and ease of surfacing. .
  • the levitation device 100 includes a separation moving body 1 and a container 2 .
  • the separation moving body 1 is a device that can be separated from the containing body 2 in the levitation device 100 and moved.
  • the separation moving body 1 corresponds to the target site. That is, in the present embodiment, the target portion is a part of the levitation device 100 and not the entire portion.
  • Separatate may mean that the separation moving body 1 is completely separated from the containing body 2 without any connection, or that the separation moving body 1 is separated from the containing body 2 by a wire or the like. It may mean that it is partially separated while maintaining the connection by.
  • the separation moving body 1 is a so-called drone (unmanned aerial vehicle), and more specifically, a multicopter (rotary wing aircraft) provided with a plurality of propellers rotating around a plurality of vertical axes. More specifically, the separation moving body 1 is a quadcopter provided with four propellers.
  • the housing body 2 is a housing that has the appearance of a pair of openable and closable hemispherical containers, and houses the separation moving body 1 inside in a sealed state.
  • the “sealed state” means that the outer shell is closed so that water does not enter the interior of the container 2 in the underwater UW.
  • the container 2 can contain the separation moving body 1 in a state where it is blocked from the surrounding water.
  • the container 2 is configured such that the separation moving body 1 is isolated from the surrounding water until the floating device 100 fixed to the submersible 200 is released from the submersible 200 and floats from the underwater UW to the surface OW. maintained.
  • the container 2 can release the sealed state and move (detach) the separation moving body 1 from the inside to the outside. do.
  • the container 2 may be made of, for example, carbon, glass, acrylic, rubber, plastic, or polyethylene.
  • the container 2 may be solid with a fixed shape, or may be bag-like with an indeterminate shape.
  • the container 2 has a curved surface portion C and a non-curved surface portion P.
  • a “curved surface portion” is a portion having a curved outer surface.
  • a “non-curved portion” is a portion having a flat outer surface.
  • the non-curved surface portion P may have an uneven surface formed by combining flat surfaces on the outer surface.
  • the non-curved surface portion P is a portion provided with a hinge of the opening/closing portion 22, which will be described later.
  • the curved surface portion C is a portion other than the non-curved surface portion P, and is configured to form a part of a sphere.
  • the maximum length of container 2 is preferably 30 cm or less, more preferably 25 cm or less, and even more preferably 20 cm or less. Convenience such as carrying and mounting is improved by constructing the container 2 compactly in this manner. Further, the container 2 is configured to have an average density of 2.0 g/cm 3 or less. The “average density of the container” is the average density calculated without including the space inside the container 2 in the volume of the container 2 . Since the container 2 is configured to have a low density in this way, the weight is reduced. This also improves the convenience of carrying the container 2 and the like.
  • the container 2 has a floating portion 20 , a detection portion 21 , an opening/closing portion 22 and a second fixing portion 23 .
  • the levitation unit 20 levitates the levitation device 100 released from the submersible 200 from the underwater UW to the water OW.
  • the means by which the levitation section 20 levitates the levitation device 100 is not particularly limited.
  • the levitation unit 20 may be a thruster (thruster, screw, or the like) for levitating the levitation device 100 .
  • the floating part 20 may be a structural part for making the density (average density) of the floating device 100 smaller than the density of water so that the floating device 100 floats on water.
  • the levitation section 20 may be a structural part for reducing the weight of the levitation device 100 and increasing the amount of air sealed in the levitation device 100 (that is, the volume of the levitation device 100). It may be a structural part for The floating part 20 may be an air introduction mechanism that introduces air into the sealed container 2 .
  • the floating section 20 may not mean a specific portion of the floating device 100, and may mean, for example, the floating device 100 itself configured to have a density lower than that of water.
  • the “density of water” may be the density of fresh water or the density of seawater, which is salt water.
  • the detection unit 21 detects that the floating device 100 has surfaced from the underwater UW to the water OW. More specifically, the detection unit 21 detects that the levitation device 100 has surfaced from the underwater UW by the levitation unit 20 and has reached the water OW.
  • a means (that is, a specific aspect of the detection unit 21) for the detection unit 21 to detect that the floating device 100 has surfaced from the underwater UW to the water OW is not particularly limited.
  • the detection unit 21 may be a camera or a water pressure sensor.
  • FIG. 6 is a diagram showing the levitation device 100 with the opening/closing portion 22 of the container 2 in the open state.
  • FIG. 7 is a diagram showing the containing body 2 with the opening/closing portion 22 in the open state and the separation moving body 1 starting to fly from the containing body 2 .
  • the open/close unit 22 seals the interior of the container 2 by being closed, and releases the sealed state of the interior of the container 2 by being opened.
  • the separation movable body 1 can be moved from the inside of the container 2 to the outside.
  • the container 2 can contain the separation moving body 1 in a sealed state by closing the opening/closing portion 22, and releases the sealed state and separates the container 2 by opening the opening/closing portion 22.
  • a moving body 1 is made movable from the inside to the outside.
  • the “closed state” means a state in which the inside of the container 2 is sealed and is cut off from surrounding water.
  • the containing body 2 has a volume capable of containing the separation moving body 1 in the closed state.
  • the “open state” means a state in which the sealed state inside the container 2 is released and the space inside the container 2 is opened to the outside.
  • the container 2 may have a pair of hemispherical containers that open so that the separation moving body 1 that is housed inside can come out.
  • the opening/closing part 22 may be automatically opened/closed by an electric mechanism.
  • a mechanism (closing mechanism) for opening and closing the container 2 by means of the opening/closing part 22 is realized here by connecting a pair of hemispherical containers with hinges.
  • the opening/closing mechanism may open and close the container 2 by sliding the lid.
  • the mechanism (opening mechanism) for opening the container 2 from the closed state by the opening/closing part 22 can also open the container 2 from the closed state by blasting at least a part of the container 2 with an explosive.
  • the container 2 may be opened from the closed state by melting at least a portion of the container 2 with the heat of the flame.
  • the container 2 may be opened from the closed state by applying a force such as an elastic force of a spring.
  • the opening/closing unit 22 may be changed from the closed state to the open state when the detection unit 21 detects that the floating device 100 has surfaced from the underwater UW to the water OW.
  • the container 2 changes the open/close unit 22 from the closed state to the open state.
  • the opening/closing portion 22 may be changed from the closed state to the open state when a preset time has elapsed from a specific timing.
  • the second fixing part 23 is a mechanism that allows the separating moving body 1 and the containing body 2 to be fixed to each other in a state where the separating moving body 1 is housed inside the containing body 2 .
  • the second fixing part 23 may cooperate with a first fixing part 14 of the separation moving body 1, which will be described later, to fix the separation moving body 1 and the containing body 2 to each other.
  • the second fixing portion 23 is configured as an electromagnet here, and generates magnetic force by being supplied with electric power.
  • the second fixing portion 23 may be powered by the battery 52 or may be powered by another battery.
  • the separation moving body 1 is provided with a first fixing portion 14 made of a magnetic material.
  • the electromagnet when power is supplied to the second fixing portion 23, the electromagnet generates a magnetic force, and this magnetic force attracts the first fixing portion 14 of the separation moving body 1 toward the second fixing portion 23 side of the container 2.
  • a separation moving body 1 is fixed to a container 2 .
  • the electromagnet stops generating magnetic force, and the first fixed portion 14 of the separation moving body 1 is no longer attracted to the second fixed portion 23 side of the container 2 . Therefore, the separation movable body 1 can be moved from the container 2 .
  • the second fixing part 23 may be arranged above the table on which the separation moving body 1 is placed.
  • the container 2 also has a second fixing mechanism 24 .
  • the second fixing mechanism 24 is a mechanism for fixing the levitation device 100 onto the base portion 51 of the submersible body 200 in cooperation with the first fixing mechanism 54 .
  • the second fixing mechanism 24 is made of a magnetic material. Therefore, as described above, power is supplied from the battery 52 to the first fixing mechanism 54 configured as an electromagnet to generate a magnetic force, thereby fixing the levitation device 100 to the pedestal portion 51, while the first fixing mechanism When the power supply from the battery 52 to 54 is stopped, the magnetic force disappears and the levitation device 100 is released from the pedestal 51 and becomes levitated.
  • the container 2 may further have a control device (not shown).
  • This control device may control the levitation section 20, the detection section 21, the opening/closing section 22, the second fixing section 23, and the like.
  • the control device is electrically connected by wire or wirelessly to various devices constituting each of the levitation portion 20, the detection portion 21, the opening/closing portion 22, the second fixing portion 23, and the like, and exchanges signals. good too.
  • the container 2 may be electrically connected to a later-described controller 15 of the separating moving body 1, and the controller 15 may perform the same function as the controller described above.
  • the separation moving body 1 is a part of the levitation device 100 and has a communication unit 10, a determination unit 11, a movement parameter setting unit 12, a moving unit 13, a first fixing unit 14, a control unit 15, and an energy storage unit 16. are doing.
  • the separation moving body 1 has various configurations as a drone.
  • the separated moving body 1 is equipped with a propeller, flight controller, battery, base, communication module, storage unit, camera, GNSS (Global Navigation Satellite System) receiver, acceleration sensor, gyro sensor, atmospheric pressure sensor, infrared sensor, etc. may Note that the GNSS receiver may be, for example, a GPS (Global Positioning System) receiver.
  • the separation moving body 1 is separated from the container 2 which is the remainder of the levitation device 100 and moves by the moving part 13 .
  • the communication unit 10 communicates with the external communication device 300 after the floating device 100 has surfaced from the underwater UW to the water OW. More specifically, the communication unit 10 communicates with the external communication device 300 after the separation mobile unit 1 starts flying by the moving unit 13 described later. For example, the communication unit 10 may communicate with the external communication device 300 while the separation mobile unit 1 is flying at an altitude of 15 m or more by the moving unit 13 . By performing communication at a position higher than the water surface WS in this way, the line-of-sight distance (communicable distance) can be longer than when communication is performed at the height of the water surface WS. The communication unit 10 may communicate with the external communication device 300 at least after the moving unit 13 starts the separation moving object 1 to fly. may communicate with the external communication device 300 before it starts flying.
  • the altitude at which the separation moving body 1 flies may be defined by the height (vertical distance) from the water surface WS if the separation moving body 1 is directly below the water surface WS.
  • the altitude at which the separation moving body 1 flies may be defined by the height from any position on the fluctuating water surface WS.
  • the altitude at which the separation moving body 1 flies may be defined by the height (vertical distance) from the ground GS when the ground GS is directly below the separation moving body 1 .
  • the altitude at which the separation moving body 1 is flying may be acquired based on the air pressure measured by an air pressure sensor.
  • a target altitude to be reached by the separation moving body 1 may be set in advance (for example, 15 m, 100 m, etc.), or may be set to increase the altitude without limit.
  • the separation moving body 1 may be set to a target altitude to reach preferably 15 m or more, more preferably set to a target altitude to reach 50 m or more, and even more preferably 100 m. The above may be set as the target altitude to be reached.
  • “Communicate” may mean transmitting information, or it may mean transmitting and receiving information.
  • the communication unit 10 may only be capable of transmitting information to the external communication device 300 or the like, or may be capable of transmitting and receiving information from the external communication device 300 or the like.
  • Information that is communicated with the external communication device 300 by the communication unit 10 may be referred to as target information.
  • the communication unit 10 may be capable of transmitting target information to the external communication device 300 after the floating device 100 has surfaced from the underwater UW to the water OW.
  • "communicating with an external communication device” means that when the communication unit 10 transmits information, the external communication device 300 cannot receive the information (fails to receive the information) as a result. may be included.
  • Object information is various information transmitted from the levitation device 100 to the external communication device 300.
  • the target information may include location information.
  • Positional information is information indicating the position of at least one of the submersible 200 and the surfacing device 100, and may include at least one of latitude, longitude, water depth, and altitude, for example.
  • the position information of the levitation device 100 (for example, the separated mobile body 1) is acquired based on the positioning data of the GNSS receiver mounted on the levitation device 100 (for example, the separated mobile body 1).
  • the position information of submersible object 200 may be estimated by calculating the direction and distance in which submersible object 200 has traveled using data from an acceleration sensor or the like with reference to the diving start point. may be estimated for depth using
  • the position information of the submersible object 200 may be transmitted from the submersible object 200 to the levitation device 100 before the levitation device 100 is released from the submersible object 200 .
  • the target information may include status information.
  • the “status information” is information indicating the status of the submersible 200, such as “in distress”, “emergency”, “crew is in danger of death”, “ The information indicating the situation such as "the passenger is injured” may be included.
  • the status information may be represented by numerical values, numbers, symbols, icons, or the like according to the degree of urgency of the state. Status information for the submersible 200 may be transmitted from the submersible 200 to the levitation device 100 before the levitation device 100 is released from the submersible 200 .
  • the target information may include information other than the information described above.
  • the target information includes information on a rescue request, weather information, moving images or still images around the submersible 200, moving images or still images around the levitation device 100, voice, message text, air temperature, or water temperature information. You can stay.
  • the target information may have any amount of data, preferably 1 B or more and 50 B or less, more preferably 1 B or more and 30 B or less. , and more preferably have a data amount of 1 B or more and 12 B or less.
  • the target information may have any amount of data, preferably 1 B or more and 50 B or less, more preferably 1 B or more and 30 B or less. , and more preferably have a data amount of 1 B or more and 12 B or less.
  • the communication unit 10 may communicate with the external communication device 300 using any communication method.
  • communication methods used by the levitation device 100 include LTE, 5G, Wi-Fi, LPWA (eg, LoRa, Sigfox, ELTRES, etc.), satellite communication, and the like.
  • the communication unit 10 may include an antenna and a communication control unit that communicates with the outside using the antenna.
  • the communication unit 10 may communicate with the external communication device 300 using radio waves with a frequency of 1000 MHz or less. By lengthening the wavelength of radio waves used for communication in this way, it is possible to lengthen the distance over which target information can be transmitted.
  • the communication unit 10 may repeatedly transmit the information multiple times.
  • the communication unit 10 may preset the number of times of information transmission, and repeatedly transmits information until it is determined that the information transmitted by the determination unit 11 described later has been received by the external communication device 300.
  • the communication unit 10 may transmit information to the external communication device 300 at predetermined time intervals, for example, may transmit information to the external communication device 300 at time intervals of once every 30 seconds or one minute.
  • the communication unit 10 transmits the target information to the external communication device 300 until the energy available to the communication unit 10 for transmitting the target information to the external communication device 300 runs out of the energy available to the levitation device 100 .
  • the energy that can be used by the levitation device 100 may be energy that is stored in an energy storage unit 16 (described later) of the separation moving body 1 and that can be used by the separation moving body 1 .
  • the energy that can be used by the communication unit 10 to transmit the target information to the external communication device 300 may be all the energy until the energy stored in the energy storage unit 16 becomes zero.
  • the energy stored in the unit 16 may be a predetermined amount of energy distributed in advance according to use.
  • the communication section 10 When communicating with the external communication device 300, the communication section 10 may be able to select at least two types of modes, a normal communication mode and a test communication mode. That is, the communication unit 10 may be able to select the test communication mode. “Normal communication mode” is a mode selected when the levitation device 100 is actually operated. A “test communication mode” is a mode in which test information is transmitted to the external communication device 300 to check the operation of the communication unit 10 . When the test communication mode is selected, the communication section 10 may transmit test information to the external communication device 300, for example. "Test information" is information indicating that the test communication mode is selected, and specifically, it may be predetermined text or numbers.
  • the determination unit 11 determines whether the external communication device 300 has received the target information transmitted to the external communication device 300 by the communication unit 10 . For example, when the reception confirmation information is received after the target information is transmitted to the external communication device 300 by the communication unit 10, the determination unit 11 determines whether the target information transmitted to the external communication device 300 by the communication unit 10 is received by the external communication device. 300 may determine that it has been received. Further, if the reception confirmation information is not received after the target information is transmitted to the external communication device 300 by the communication unit 10, the determination unit 11 determines whether the target information transmitted to the external communication device 300 by the communication unit 10 is received by the external communication device. 300 may determine that it has not received it.
  • the “receipt confirmation information” is, for example, information that is transmitted to the levitation device 100 (communication section 10 ) when the external communication device 300 receives the target information from the communication section 10 .
  • the movement parameter setting unit 12 sets movement parameters related to movement of the separation moving body 1 .
  • a “movement parameter” is a parameter indicating at least one of the distance, altitude, and time that the separation moving body 1 should move.
  • the movement parameters may include parameters other than distance, altitude, and time.
  • the movement parameters may include the direction in which the separation moving body 1 should move, the movement route, or the movement speed. good.
  • the distance that the separation moving body 1 should move may be defined as, for example, 100m, 500m, or 3km.
  • the distance may be a one-dimensional distance (that is, a straight line distance), or a two-dimensional distance (that is, a horizontal distance that is integrated along the moving route of the separation moving body 1 with respect to latitude and longitude). or a distance in three dimensions (that is, a spatial distance integrated along the moving route of the separation moving body 1 with respect to latitude, longitude, and altitude).
  • the altitude to which the separation moving body 1 should move may be defined as, for example, 15m, 50m, or 100m.
  • the separation moving body 1 suppresses the change in altitude by hovering, for example, when reaching the predetermined altitude, and even if it stays at the predetermined altitude good.
  • the separation moving body 1 may stop the operation of the moving unit 13 described later and fall downward when reaching the predetermined altitude.
  • the operation of the moving part 13 may be controlled to gradually descend and land on the water surface WS (or land on the ground GS).
  • the time for which the separation moving body 1 should move may be defined as, for example, 3 minutes, 10 minutes, or 30 minutes.
  • the separation moving body 1 may suppress movement by hovering, for example, and remain at the position when the predetermined time has elapsed.
  • the separation moving body 1 may stop the operation of the moving unit 13 to be described later and fall downward when the predetermined time elapses.
  • the operation of the moving part 13 may be controlled to gradually descend and land on the water surface WS (or land on the ground GS).
  • the movement parameter setting unit 12 may set predetermined movement parameters.
  • the movement parameter setting unit 12 may also set movement parameters designated by the user.
  • the movement parameter setting unit 12 may set movement parameters based on information input from a terminal operated by the user.
  • the movement parameter setting unit 12 may set movement parameters based on information input by the user via the submersible 200 .
  • the movement parameter setting unit 12 may set movement parameters according to whether the movement unit 13 has selected the normal movement mode or the test movement mode, as will be described later.
  • the separation moving body 1 in the test movement mode, may move a shorter distance and may move a lower altitude than in the normal movement mode.
  • the time for 1 to move may be short.
  • the moving unit 13 moves the target portion, which is at least part of the floating device 100, after the floating device 100 has surfaced from the underwater UW to the water OW.
  • the target part is the separation moving body 1
  • the moving unit 13 moves the separation moving body 1 after the floating device 100 has surfaced from the underwater UW to the water OW. That is, here, the separation moving body 1 can be read as a target part.
  • the moving unit 13 moves the separation moving body 1 by causing it to fly.
  • the moving unit 13 moves the separation moving body 1 according to the moving parameters set by the moving parameter setting unit 12 .
  • the moving unit 13 may be capable of selecting at least two types of modes, a normal moving mode and a test moving mode, when moving the separation moving body 1 . That is, the moving unit 13 can select the test moving mode.
  • “Normal movement mode” is a mode selected when the levitation device 100 is actually operated.
  • the “test movement mode” is a mode in which the separation moving body 1 is moved for test operation in order to confirm the operation of the movement unit 13 . For example, in the test travel mode, distance, altitude, and time settings may be smaller than in the normal travel mode.
  • the moving unit 13 may select the normal moving mode or the test moving mode based on the moving parameters set by the moving parameter setting unit 12 .
  • test travel mode when the test travel mode is selected by the mobile unit 13, the test communication mode may be selected by the communication unit 10 at the same time. In other words, both the test movement mode and the test communication mode may be set at the same time.
  • FIG. 8 is a diagram showing the separation moving body 1 propelled upward from the containing body 2.
  • the moving unit 13 can move the separating moving body 1 in various ways according to the moving parameters.
  • the moving unit 13 may cause the separation moving body 1 to fly by generating an upward propulsion force that propels the separation moving body 1 upward.
  • the separation moving body 1 is moved vertically upward, the separation moving body 1 is moved in the horizontal direction under the influence of wind or the like without generating a lateral driving force for propelling the separation moving body 1 sideways (horizontally). may be allowed. This saves energy for lateral propulsion.
  • the moving part 13 may generate a lateral driving force in addition to the upward driving force.
  • the moving unit 13 may move the separation moving body 1 in a specific direction.
  • “Specific direction” may mean a direction in a specific direction, may mean a direction toward a specific latitude and longitude, or may mean a direction toward a specific address. , may mean the direction toward the pre-stored position of the external communication device 300 (base station), or may mean the direction vertically upward.
  • FIG. 9 is a diagram showing the separation moving body 1 that descends directly downward from a flying state.
  • the moving unit 13 may lower the separation moving body 1 in flight so as to head directly downward.
  • "Beneath" does not have to be exactly under the separation moving body 1, for example, within a predetermined range (for example, a range with a radius of 1 m, a radius of 5 m, or a radius of 10 m) centered on the exact bottom of the separation moving body 1 inside) can be regarded as directly below.
  • a predetermined range for example, a range with a radius of 1 m, a radius of 5 m, or a radius of 10 m
  • the moving unit 13 may lower the separated mobile body 1 directly downward.
  • FIG. 10 is a diagram showing the separation moving body 1 that descends from a flying state toward a position different from directly below.
  • the moving unit 13 may lower the separation moving body 1 in flight so as to head to a position different from directly below.
  • the “position different from directly below” may be, for example, a position outside a predetermined range (for example, outside the range of radius 1 m, radius 5 m, or radius 10 m) centered on the exact bottom of separation moving body 1 .
  • “To head to a position different from directly below” may mean heading to a preset position, and as a result of not intending to actively move directly downward, may mean.
  • the moving unit 13 After the target information is transmitted to the external communication device 300 by the communication unit 10 while the separated mobile body 1 is in flight, the moving unit 13 lowers the separated mobile body 1 to a position different from directly below. good too.
  • the moving unit 13 moves the separated moving object 1 does not have to be moved. More specifically, after the levitation device 100 floats from the underwater UW to the water OW and before the separation moving body 1 separates from the accommodation body 2 and moves, the communication unit 10 sends the target information to the external communication device 300. When the target information is transmitted, the moving unit 13 does not need to move the separated moving body 1 when the determination unit 11 determines that the external communication device 300 has received the target information.
  • the moving unit 13 may not move the separated moving body 1 when the target information has been transmitted to the external communication device 300 for a predetermined number of times (for example, 20 times or 50 times). For example, when the target information is transmitted to the external communication device 300 for 5 minutes or 10 minutes, etc., the separated moving body 1 does not need to be moved.
  • the moving unit 13 may cause the separated moving object 1 in flight to stay at the same position after the communication unit 10 has transmitted the target information to the external communication device 300 .
  • "Staying in the same position” may mean suppressing changes in altitude and changes in latitude and longitude, for example by hovering.
  • the determination unit 11 determines that the target information has been received by the external communication device 300 (that is, when the communication is successful)
  • the movement unit 13 moves the separated moving object 1 in flight to the same position. You can let it stay.
  • the moving unit 13 transmits the target information to the external communication device 300 a predetermined number of times (for example, 20 times or 50 times)
  • the moving unit 13 may cause the flying separation moving object 1 to stay at the same position.
  • the target information is transmitted to the external communication device 300 for a predetermined period of time (for example, 5 minutes or 10 minutes)
  • the flying separated moving body 1 may be allowed to stay at the same position.
  • the moving unit 13 may stop operating after the communication unit 10 transmits the target information to the external communication device 300 .
  • "Stopping the operation” may mean stopping the power of, for example, a propeller, and in this case, the flying separation moving body 1 may fall.
  • the moving unit 13 may stop the operation when the determining unit 11 determines that the external communication device 300 has received the target information (that is, when the communication is successful).
  • the moving unit 13 may stop the operation when the target information has been transmitted to the external communication device 300 a predetermined number of times (for example, 20 or 50 times), and may continue for a predetermined time (for example, 5 minutes).
  • the operation may be stopped when the target information is transmitted to the external communication device 300 for 10 minutes or the like.
  • the moving unit 13 may move the separation moving body 1 until the energy that can be used by the moving part 13 to move the separation moving body 1 out of the energy that can be used by the levitation device 100 is exhausted.
  • the energy that can be used by the levitation device 100 may be energy that is stored in an energy storage unit 16 described later and that can be used by the separation moving body 1 .
  • the energy that can be used by the moving unit 13 to move the separation moving body 1 may be all the energy until the energy stored in the energy storage unit 16 becomes zero.
  • the stored energy may be a predetermined amount of energy distributed in advance according to use.
  • the first fixing part 14 is a mechanism that enables the separating moving body 1 and the containing body 2 to be fixed to each other in a state where the separating moving body 1 is housed inside the containing body 2 .
  • the first fixing part 14 may cooperate with the second fixing part 23 of the containing body 2 to fix the separation moving body 1 and the containing body 2 to each other.
  • the first fixing portion 14 is made of a magnetic material. For this reason, as described above, when power is supplied to the second fixing portion 23 configured as an electromagnet, a magnetic force is generated to fix the separation moving body 1 to the container 2, while the second fixing portion 23 When the power supply is stopped, the magnetic force disappears and the separation moving body 1 is released from the containing body 2 and becomes movable.
  • the control unit 15 controls the communication unit 10, the determination unit 11, the movement parameter setting unit 12, the movement unit 13, the first fixing unit 14, the energy storage unit 16 described later, and the like.
  • the control unit 15 communicates with various devices constituting each of the communication unit 10, the determination unit 11, the movement parameter setting unit 12, the movement unit 13, the first fixing unit 14, the energy storage unit 16, and the like by wire or wirelessly. Signals may be exchanged by being electrically connected.
  • the energy storage unit 16 stores energy for operating various devices of the levitation device 100, and supplies energy to the devices as needed.
  • the energy storage unit 16 may be capable of supplying energy to each of the various devices of the separation moving body 1 and the various devices of the container 2 . Further, the energy storage unit 16 may be capable of supplying energy to each of the various devices of the separation moving body 1 when the separation moving body 1 is released from the container 2 .
  • the energy storage unit 16 is a battery that stores (accumulates) electric power.
  • the energy storage unit 16 is not limited to a battery, and may be a fuel tank that stores fuel such as gasoline. Further, when supplying energy to various devices of the levitation device 100, the separation moving body 1 does not supply the energy stored in the energy storage unit 16 to the devices, but generates the energy and stores the generated energy. It may be supplied directly to the device.
  • the separation moving body 1 may have a solar panel in place of the energy storage unit 16 and directly supply power generated by the solar panel to various devices of the levitation device 100 .
  • the levitation device 100 floats from the water UW to the water OW in a state where the opening/closing part 22 is closed and housed inside the container 2, and the opening/closing part 22 is opened. After being brought into the state, it separates from the container 2 and flies (moves) by the moving part 13 . More specifically, the separation moving body 1 is housed inside the container 2 with the opening/closing portion 22 closed, and the levitation device 100 floats from underwater UW to water OW, and the opening/closing portion 22 is opened. and after the fixing to the container 2 by the first fixing part 14 and the second fixing part 23 is released, it separates from the container 2 and flies (moves) by the moving part 13 .
  • the external communication device 300 is a communication base station capable of wired or wireless communication with the levitation device 100 and the information management device 400 .
  • the external communication device 300 may be configured to communicate with each of the levitation device 100 and the information management device 400 via a network.
  • the external communication device 300 is provided on the ground GS on the ground. Note that the external communication device 300 is not limited to a communication base station, and may be, for example, a receiver provided in a terminal or an artificial satellite.
  • the external communication device 300 may generate reception confirmation information indicating that the target information has been received, and transmit the generated reception confirmation information to the levitation device 100 .
  • the external communication device 300 may transmit the target information to the information management device 400 .
  • the external communication device 300 may promptly transmit the target information to the information management device 400, and collect the target information up to a predetermined timing after receiving the target information. You may transmit to the information management apparatus 400.
  • the information management device 400 is a device that manages information for each submersible 200 and levitation device 100 .
  • the information management device 400 is configured as a computer (server) capable of wired or wireless communication with the external communication device 300 and user terminals.
  • the information management device 400 has a control operation device, a storage device, and an input/output device as a physical configuration.
  • the control arithmetic device is composed of a controller 3 such as a CPU (Central Processing Unit), for example, and performs arithmetic processing and controls a storage device and an input/output device.
  • the storage device has, for example, a main storage device and an auxiliary storage device.
  • the main memory is composed of, for example, RAM (Random Access Memory).
  • the auxiliary storage device is configured by, for example, a ROM (Read Only Memory).
  • the input/output device has, for example, an input device that receives data from the outside and transmits it to the storage device, and an output device that outputs to the outside the results of calculations performed by the control calculation unit and stored in the storage device.
  • the information management device 400 reads a program stored in the ROM into the RAM, and causes the CPU to execute the program read into the RAM, thereby executing predetermined processing. It should be noted that the computer that constitutes the information management apparatus 400 may have a physical configuration different from that described above.
  • the controller 3 of the information management device 400 functionally includes an identification information acquisition unit 30, a target information acquisition unit 31, a contact information acquisition unit 32, an information management unit 33, an information communication unit 34, and a correspondence information generation unit 35. I have.
  • the identification information acquisition unit 30 acquires identification information regarding the levitation device 100 .
  • the “identification information” may be an ID for identifying the individual of the levitation device 100 , the submersible object 200 associated with the levitation device 100 , or the separated moving object 1 .
  • the identification information may be IDs of various devices or modules included in the separation moving body 1 .
  • the identification information acquisition unit 30 may acquire identification information based on information input from a terminal operated by the user. Alternatively, the identification information acquiring section 30 may acquire the identification information based on information input by the user via the submersible 200 .
  • the target information acquisition unit 31 acquires target information transmitted to the external communication device 300 by the communication unit 10 provided in the levitation device 100 . More specifically, when target information is transmitted from the communication unit 10 to the external communication device 300 , the target information acquisition unit 31 acquires the target information by receiving it from the external communication device 300 .
  • the contact information acquisition unit 32 acquires contact information regarding the submersible 200 .
  • the “contact information” is contact information related to the submersible 200, and may be, for example, contact information of a crew member or owner of the submersible 200, or of a person related to them. Contact information may be, for example, a phone number, email address, street address, and the like. A "relevant party" may be a family member, a rescue team, a safety management company, a public agency, or the like.
  • the contact information acquisition unit 32 may acquire contact information based on information input from a terminal operated by the user. Alternatively, the contact information acquisition unit 32 may acquire contact information based on information input by the user via the submersible 200 .
  • the information management unit 33 links the identification information acquired by the identification information acquisition unit 30 and the target information acquired by the target information acquisition unit 31 and manages them. Further, the information management unit 33 may manage the contact information acquired by the contact information acquisition unit 32 in association with the identification information. "Manage information" may include storing the information in a storage device or storage medium, updating the stored information, and displaying the stored information on the terminal screen. In addition to identification information, target information, and contact information, the information management unit 33 stores location information (for example, latitude, longitude, water depth, address, and landmarks on the map) of the place where the rescue request is made, information is transmitted, the status of rescue (for example, there is a rescue request, waiting for rescue, or rescue is in progress).
  • location information for example, latitude, longitude, water depth, address, and landmarks on the map
  • the information communication unit 34 When new target information is acquired by the target information acquisition unit 31, the information communication unit 34, based on the contact information linked with the identification information linked with the target information, provides information related to the contact information. Get in touch with your contacts. At this time, the information communication unit 34 may notify the contact by phone, email, website, or application via the input/output device of the information management device 400, for example. In particular, when the target information newly acquired by the target information acquisition unit 31 is information (crisis information) indicating that the submersible 200 is in danger due to distress or the like, the information communication unit 34 sends information to the contact address. You may contact us.
  • the correspondence information generation unit 35 generates the correspondence information regarding the correspondence to the submersible object 200 after the object information acquisition unit 31 acquires the object information.
  • "Response information” includes "rescue request incomplete”, “rescue request in progress”, “rescue request completed”, “rescue activity in progress”, “submersible discovered”, “rescue completed”, or “submersible recovered”. and other information.
  • the response information generation unit 35 may automatically generate response information based on contact with the rescue team, etc., and information input by the administrator (information input by text, information input by pull-down, etc.) You may generate
  • the levitation device 100 is released from the submersible body 200 that has submerged in the underwater UW, floats to the surface OW, and communicates with the external communication device 300. and a levitation unit 20 that floats the levitation device 100 released from the underwater UW to the water OW, and a communication unit that can transmit target information to an external communication device 300 after the levitation device 100 floats from the underwater UW to the water OW. 10, and a moving unit 13 that moves a target portion that is at least a part of the levitation device 100 after the levitation device 100 floats from the underwater UW to the water OW.
  • the levitation device 100 After the levitation device 100 is released from the submersible 200 and floats from the underwater UW to the surface OW, the target part can be moved from the surfaced position. Therefore, the levitation device 100 can communicate with the outside at a position different from the position where the levitation device 100 is levitated by using the moved target part.
  • the moving unit 13 moves the target portion by flying it, and the communication unit 10 transmits the target information to the external communication device 300 after the moving unit 13 starts flying the target portion.
  • the communication unit 10 transmits the target information to the external communication device 300 after the moving unit 13 starts flying the target portion.
  • the communication unit 10 transmits the target information to the external communication device 300 while the target part is flying at an altitude of 15 m or more by the moving unit 13. According to this, the operation and effects of the floating device 100 described above are realized more specifically.
  • the moving part 13 causes the target part to fly by generating an upward propulsion force that propels the target part upward.
  • the target part may be propelled upward by the upward thrust, but the position of the target part may not be controlled laterally.
  • the moving part 13 can use more energy for upward propulsion among the energy that can be used for moving the target part. Therefore, since the target site can be raised to a higher altitude, the line-of-sight distance from the target site can be increased.
  • the moving unit 13 lowers the flying target part directly downward. According to this, the position coordinates at which the target portion flew and the position coordinates at which the target portion descended can be substantially matched. Therefore, by detecting the position coordinates at which the target part descended, it becomes easier to estimate the position coordinates at which the target part was flying.
  • the moving unit 13 lowers the flying target part so as to head to a position different from directly below. According to this, since the position coordinates can be changed while the target site is descending, it is possible to descend to a wider area. Also, this may be achieved by, for example, suppressing lateral control of the moving part 13, in which case energy consumption by the moving part 13 can be suppressed.
  • the moving section 13 causes the flying target part to remain at the same position after the communication section 10 transmits the target information to the external communication device 300. According to this, it is possible to cause the target part to stay at a position where the target information can be more reliably transmitted to the external communication device 300 . Therefore, even if it becomes necessary to retransmit the target information to the external communication device 300, it can be transmitted quickly. In addition, since the target part remains at the same position, the levitation device 100 is easily found by others.
  • the moving unit 13 stops operating after the communication unit 10 transmits the target information to the external communication device 300 . According to this, consumption of energy by the moving part 13 can be suppressed.
  • the levitation device 100 includes a separation moving body 1 which is a part of the levitation device 100, the separation moving body 1 includes a communication unit 10 and a movement unit 13, and the levitation device 100 moves from the underwater UW to the water surface. After floating to OW, it is separated from the rest of the floating device 100 and moved by the moving part 13 . According to this, since not the entire levitation device 100 but the separation moving body 1 is moved, energy consumption by the moving portion 13 can be suppressed. Further, since the separated mobile unit 1 is provided with the communication unit 10, the separated mobile unit 1 that has moved can communicate with the outside.
  • the moving unit 13 moves the separation moving body 1 by making it fly. According to this, the separation moving body 1 flies at a position higher than the water surface WS, so that the line-of-sight distance from the separation moving body 1 can be increased. Therefore, communication with the external communication device 300 can be facilitated.
  • the levitation device 100 is provided with an opening/closing part 22.
  • the separation moving body 1 By closing the opening/closing part 22, the separation moving body 1 can be housed inside in a sealed state, and by opening the opening/closing part 22, the sealed state is canceled.
  • the separation moving body 1 is provided with a container 2 capable of moving the separating moving body 1 from the inside to the outside, and the separating moving body 1 floats in a state accommodated inside the containing body 2 in which the opening/closing part 22 is closed. After the device 100 floats from the water UW to the water OW and the opening/closing portion 22 is opened, the device 100 is separated from the container 2 and moved by the moving portion 13 .
  • the separation moving body 1 is housed inside the housing body 2 in a sealed state, thereby preventing the separation moving body 1 from coming into contact with water. can do. Further, after the levitation device 100 floats from the underwater UW to the water OW, the separating moving body 1 can be separated from the containing body 2 and the separating moving body 1 can be moved.
  • the levitation device 100 includes a detection unit 21 that detects that the levitation device 100 has surfaced from the underwater UW to the water OW. When this is detected, the opening/closing portion 22 is opened. According to this, until the floating device 100 floats from the water UW to the water OW, the separation moving body 1 is housed inside the housing body 2 in a sealed state, thereby preventing the separation moving body 1 from coming into contact with water. The action and effect of the levitation device 100 can be suitably exhibited. In addition, after the levitation device 100 floats from the underwater UW to the water OW, the operation and effect of the levitation device 100, which separates the separation moving body 1 from the containing body 2 and moves the separation moving body 1, can be preferably exhibited. can.
  • the container 2 is configured to have an average density of 2.0 g/cm 3 or less. According to this, since the weight of the container 2 can be reduced, it is possible to prevent the weight of the container 2 from interfering with the levitation of the levitation device 100 .
  • the levitation device 100 includes a first fixing portion 14 and a second fixing portion 23 capable of fixing the separating moving body 1 and the containing body 2 to each other in a state where the separating moving body 1 is housed inside the containing body 2.
  • the floating device 100 floats from the underwater UW to the water OW while the movable body 1 is housed inside the container 2 in which the opening/closing part 22 is closed, and the opening/closing part 22 is opened, and After the fixing to the containing body 2 by the first fixing part 14 and the second fixing part 23 is released, it separates from the containing body 2 and moves by the moving part 13 . According to this, before the separating moving body 1 is separated from the containing body 2, it is possible to prevent the separating moving body 1 from tilting or overturning inside the containing body 2 due to the influence of, for example, ocean currents or waves. can.
  • the container 2 includes a curved surface portion C having a curved outer surface and a non-curved surface portion P having a flat outer surface. According to this, it is easy to improve the pressure resistance of the containing body 2 in the curved surface portion C, and it is easy to form the opening/closing mechanism of the opening/closing portion 22 in the non-curved surface portion P.
  • the separation moving body 1 floats on water. According to this, it is possible to prevent the separation moving body 1 from being submerged when it descends to the water surface WS.
  • the submersible 200 is a boarding submersible on which a crew member can board. According to this, the operation and effects of the floating device 100 described above are realized more specifically.
  • the levitation device 100 can be used to transmit a distress signal to request rescue of the occupants.
  • the moving unit 13 moves the target part in a specific direction. According to this, it is possible to facilitate communication with the external communication device 300 by moving the target part in the direction toward the position where the target information is easily received.
  • the levitation device 100 includes a determination unit 11 that determines whether or not the external communication device 300 has received the target information transmitted to the external communication device 300 by the communication unit 10 . is received by the external communication device 300, the target site is not moved. According to this, when the target information is received by the external communication device 300, the separation mobile unit 1 is not moved, so that the energy consumption by the moving unit 13 can be suppressed.
  • the target information includes position information indicating the position of at least one of the submersible 200 and the levitation device 100 . According to this, information about the current position of the submersible 200 can be transmitted to the external communication device 300 . In particular, when the rescue signal of the submersible 200 is transmitted as the target information, rescue can be carried out more quickly.
  • the target information includes status information indicating the condition of the submersible 200 .
  • information about the current situation of the submersible 200 can be transmitted to the external communication device 300 .
  • a rescue team or the like acquires information about the current situation of the submersible 200 via the external communication device 300, the information about the current situation of the submersible 200 can be grasped.
  • the target information has a data amount of 1B or more and 50B or less. According to this, the data amount of the target information can be reduced, so the target information can be transmitted over a longer distance.
  • the communication unit 10 communicates with the external communication device 300 using radio waves with a frequency of 1000 MHz or less. According to this, the wavelength of the radio wave used for communication can be lengthened, so the target information can be transmitted over a longer distance.
  • the levitation device 100 includes a movement parameter setting unit 12 that sets a movement parameter indicating at least one of distance, altitude, and time for which the target part should move.
  • the target part is moved according to the movement parameter. According to this, it is possible to facilitate communication with the external communication device 300 by moving the target part to a position where the target information is easily received.
  • the moving unit 13 moves the target portion until the energy that can be used by the moving unit 13 to move the target portion runs out of the energy that the levitation device 100 can use.
  • 10 transmits the target information to the external communication device 300 until the energy available to the communication unit 10 for transmitting the target information to the external communication device 300 runs out of the energy available to the levitation device 100.
  • the mobile unit 13 and the communication unit 10 can use a large amount of energy, so communication with the external communication device 300 becomes more likely to succeed.
  • the mobile unit 13 and the communication unit 10 can use a large amount of energy, the amount of data that can be communicated with the external communication device 300 can be increased.
  • the moving unit 13 can select a test moving mode in which the target part is moved as a test in order to check the operation of the moving unit 13. According to this, it is possible to confirm in advance whether or not the moving unit 13 operates appropriately.
  • the communication section 10 can select a test communication mode for transmitting test information to the external communication device 300 in order to check the operation of the communication section 10 . According to this, according to this, according to this, it can be confirmed beforehand whether the communication part 10 operate
  • the information management device 400 acquires the target information transmitted to the external communication device 300 by the identification information acquisition unit 30 that acquires identification information related to any of the levitation devices 100 described above and the communication unit 10 provided in the levitation device 100. and an information management unit 33 that manages the identification information acquired by the identification information acquisition unit 30 and the target information acquired by the target information acquisition unit 31 in association with each other.
  • this information management device 400 it is possible to manage target information transmitted to the external communication device 300 for each levitation device 100 that can communicate with the outside at a position different from the levitation position.
  • the target information includes status information indicating the status of the submersible 200 . According to this, information regarding the situation of the submersible 200 can be managed.
  • the information management device 400 includes a response information generation section that generates response information regarding response to the submersible body 200 after the target information acquisition section 31 acquires the target information. According to this, it is possible to manage rescue response information after receiving target information such as a distress signal, so that, for example, an administrator or the like can grasp the status of response to the submersible 200 .
  • target information such as a distress signal
  • the information management device 400 includes a contact information acquisition unit 32 that acquires contact information of a contact regarding the submersible body 200.
  • the information management unit 33 converts the contact information acquired by the contact information acquisition unit 32 into identification information.
  • the contact is contacted based on the identification information linked with the target information and the contact information linked.
  • An information communication unit 34 is further provided. According to this, it is possible to manage the contact information of the contact information regarding the submersible body 200 for each surfacing device 100 that can communicate with the outside at a position different from the surfacing position. Then, when new target information is acquired, it is possible to contact the contact address of the submersible body 200 associated with the levitation device 100 that transmitted the target information. Therefore, for example, when a rescue signal is sent from the levitation device 100 of any of the submersibles 200, it is possible to quickly contact the persons concerned with the submersible 200 concerned.
  • the separation moving body 1 is released from a submersible body 200 that has submerged in the underwater UW, floats to the water OW by the levitation unit 20, and is a part of the levitation device 100 that communicates with the external communication device 300. 1, a communication unit 10 capable of transmitting target information to an external communication device 300 after the levitation device 100 floats from the underwater UW to the water OW; and a moving unit 13 for moving the separation moving body 1 separated from the rest of the device 100 .
  • this separation moving body 1 After the levitation device 100 equipped with the separation moving body 1 is released from the submersible 200 and floats from the underwater UW to the water OW, the separation moving body 1 is moved from the surfaced position. can be done. Therefore, the separation moving body 1 can communicate with the outside at a position different from the position where the levitation device 100 floats.
  • FIG. 11 is a diagram showing a levitation device 100A according to the second embodiment.
  • the levitation device 100A according to the second embodiment is different from the levitation device 100 according to the first embodiment in that the container 2A is filled with oil F, and the container 2A is filled with oil F.
  • the main difference is that an oil filling port L is formed at the upper end of 2A, and the other points are the same.
  • the structure of the levitation device 100A according to the second embodiment will be described with respect to the differences from the structure of the levitation device 100 according to the first embodiment.
  • An openable and closable lubricating port L is formed at the upper end of the containing body 2A of the levitation device 100A.
  • the oil inlet L can be closed and opened by a cap or the like, for example.
  • the container 2A is filled with the oil F in a state in which the opening/closing portion 22 is closed. More specifically, in the container 2A, the oil filling port L is opened when the opening/closing portion 22 is closed, and the oil F is injected into the container 2A through the oil filling port L. After the inside of the container 2A is filled (filled) with the oil F, the oil inlet L is sealed.
  • the oil F functions as a so-called pressure equalizing oil.
  • the containing body 2A may further include a pressure regulating mechanism for appropriately functioning the oil F as pressure equalizing oil.
  • As the oil F an industrial insulating oil can be suitably used.
  • the container 2 is filled with the oil F while the opening/closing portion 22 is closed. According to this, by causing the oil F to function as a so-called pressure equalizing oil, it is possible to suppress the water pressure applied to the equipment inside the container 2 such as the separation moving body 1 . Moreover, when the floating device 100 is splashed with water, the oil F can protect the equipment inside the floating device 100 from the water.
  • the submersible 200 is a submarine.
  • the submersible 200 need not be a submersible, but may be a submarine, or a structure or device installed in an underwater UW, or the like.
  • the submersible 200 may be a user or the like who has submerged in an underwater UW. In this case, even if the levitation device 100 fixed (held) to the fixture of the clothing (diving suit, etc.) of the submersible body 200 is released from the submersible body 200 by releasing the fixation of the fixture. good.
  • the levitation device 100 gripped (held) by the hand of the submersible object 200 is released from the submersible object 200. You can let go.
  • the separation moving body 1 floats on water.
  • the separation moving body 1 may further have a member filled with air (for example, a member made of plastic, polyester, etc.) in order to more reliably float on water. It may further have a member with a lower density (lower weight per unit volume).
  • the separation moving body 1 as the target part is a part of the levitation device 100 .
  • the target portion may be the entire portion of the levitation device 100 .
  • the separation moving body 1 is a multicopter (rotary wing aircraft), particularly a quadcopter having four propellers.
  • the separation moving body 1 may be a multicopter other than the quadcopter, or may not be a multicopter.
  • the separation moving body 1 may be a fixed-wing aircraft or an airship (balloon) type moving body that flies by means of balloons.
  • the separation moving body 1 may not be a drone, but may be a device that is composed of, for example, a communication device, a battery, a gas injector, a balloon, etc., and automatically flies by injecting gas into the balloon. There may be.
  • the levitation device 100 includes one separation moving body 1 .
  • the levitation device 100 may have two or more separation moving bodies 1 .
  • the levitation device 100 includes a separation mobile body 1 capable of submerging in an underwater UW and a separation mobile body 1 capable of flying in the air. may be provided. In this case, after the connected mobile body moves to the water OW, the separated mobile body 1 may be separated from each other and the separated mobile body 1 capable of flying in the air may start flying.
  • At least one of the communication unit 10, the determination unit 11, the movement parameter setting unit 12, the movement unit 13, the control unit 15, and the energy storage unit 16 is It may also be provided in the container 2 as well.
  • the communication unit 10 may be provided with a main unit for executing communication control provided in the container 2, and an antenna for transmitting and receiving radio waves may be provided in the separated mobile unit 1. .
  • each function of the separation moving body 1 is controlled by the control unit 15 .
  • each function of the separation moving body 1 may be realized without being controlled by the control section 15 .
  • the separation moving body 1 automatically It may be configured to separate from the container 2 and start moving.
  • the separation moving body 1 starts moving after the floating device 100 has surfaced from the underwater UW to the water OW.
  • the separation moving body 1 only needs to move at least after the levitation device 100 has surfaced, and may already start to move before the levitation device 100 completes the levitation from the underwater UW to the water OW. .
  • the separated moving body 1 starts moving with the moving unit 13 after starting communication with the communication unit 10 .
  • the separated moving body 1 may start communication by the communication unit 10 after starting movement by the movement unit 13, or may start movement by the movement unit 13 at the same time when communication is started by the communication unit 10. .

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Toys (AREA)
PCT/JP2021/029381 2021-08-06 2021-08-06 浮上装置、情報管理装置、及び分離移動体 Ceased WO2023013051A1 (ja)

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US18/681,563 US20240343361A1 (en) 2021-08-06 2021-08-06 Surfacing device, information management device, and detachable moving body
PCT/JP2021/029381 WO2023013051A1 (ja) 2021-08-06 2021-08-06 浮上装置、情報管理装置、及び分離移動体
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